If I'm not mistaken they should now be effectively half of the previous gains in the case of pwm_actuators and stabilization quat_int. The assumption is that the commands were previously from -200 to 200 and I changed them to -MAX_PPRZ,MAX_PPRZ, so 9600/200 = 48
48 is what I set the new gain scale in the stabilization_attitude_quat_int for... but there also was a GAIN_SCALE of 2 in actuators_pwm_supervision which I got rid off in the process...
but I'm not sure if the commands really had a range of 200 in the pwm_supervision case.
In case of the stabilitzation_euler_int I set a new CMD_SHIFT to 11 instead of 16, so effectively the gain prescaler is now only 32 times as high as before (instead of 48). But I thought it would be better to set them lower instead of changing CMD_SHIFT to 10 and effectively setting the prescaler 64 times as high.
So I guess we maybe should set a multiplier just like in stabilization quat instead of using only a shift (to be able to set it to 48) as well....
But I guess what the best solution would be is to set the gain scales in both cases to such a value that the same commands and gains result in the same final actuator commands. In an ideal case there would be no need to change the gains at all if you e.g. switch from stabilization euler to quat.
This would need some further calculation of what result you get with which gains, adjusting the gain scales accordingly and of course more testing. But I think that would be best way....
@Gautier, Christophe & co... what do you think?
Cheers, Felix
On Wed, Mar 28, 2012 at 2:16 PM, Luke Barnett
<address@hidden> wrote:
Hi Felix,
I'll test this out and let you know how I get on. With regards to the gains, do you have an idea of the expected change for PWM actuators to the gain values that I have already?
Thanks
Luke
Hi,
I merged
pull request 169 into the dev branch, which means that you will have to re-tune your control gains if you are using the rotorcraft firmware.
This was necessary in order to properly support all kinds of actuators with different ranges without having to resort to hacks and having to set different gains for different actuators.
Now PWM actuators should also work nicely regardless of what stop/min/max values the controllers expect and adaptive hover should be fixed with that as well.
If you are using pwm_supervision actuators, you also need to configure the value to send to the controllers to stop the motors (before that was fixed to 1000us, but that doesn't fit for every controller):
- cleaned up rotorcraft stabilization and guidance
- removed not properly functioning nav tracking algorithm
- same guidance loop for hover and nav (except that nav uses a reference)
- horizontal guidance (hover, nav) should now be running properly for quaternion stabilization as well
If you have comments, questions or a setup to test this, feedback is always welcome :-)
Cheers, Felix
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